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Added code using the perturbation tangents for rotation matrix. Converges in...

Merged Added code using the perturbation tangents for rotation matrix. Converges in...
ujwal_29April2024 into master
Merged Ludovic Noels requested to merge ujwal_29April2024 into master

Added code using the perturbation tangents for rotation matrix. Converges in elasticity but not in plasticity

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